The invention discloses a steering angle correction method, device and equipment and a readable storage medium, and the method comprises the steps: obtaining road information, determining whether a road is a curved road, if so, determining vehicle information, a road center line and the position of a vehicle, according to the position of the vehicle, determining a reference point and a curvature radius and curvature corresponding to the reference point on a road center line, establishing a Frenet coordinate system by taking the reference point as an original point, determining the distance of the vehicle deviating from the center line based on the established coordinate system, determining the turning direction of the vehicle according to the curvature, based on the established coordinate system, the vehicle information, the curvature radius corresponding to the reference point and the distance of the vehicle deviating from the center line, obtaining dynamic characteristic data of the vehicle, calculating to obtain an initial steering angle value, and correcting the initial steering angle value by using the vehicle information, the curvature radius corresponding to the reference point, the distance of the vehicle deviating from the center line and the turning direction to obtain a target steering angle value such that the vehicle tire steering angle is corrected.

    本申请公开了一种转向角度修正方法、装置、设备及可读存储介质,通过获取道路信息,确定道路是否为弯曲道路,若是则确定车辆信息、道路中心线和车辆的位置,根据车辆的位置,在道路中心线上确定一个参考点和参考点对应的曲率半径和曲率,以参考点为原点,建立Frenet坐标系,基于建立的坐标系确定车辆偏离中心线的距离,根据曲率确定车辆的转弯方向,基于建立的坐标系、车辆信息、参考点对应的曲率半径和车辆偏离中心线的距离,获取车辆的动力学特性数据,计算得到初始转向角度值,利用车辆信息、参考点对应的曲率半径、车辆偏离中心线的距离和转弯方向对初始转向角度值进行修正,得到目标转向角度值,实现对车辆轮胎转向角度的修正。


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    Title :

    Steering angle correction method, device and equipment and readable storage medium


    Additional title:

    一种转向角度修正方法、装置、设备及可读存储介质


    Contributors:
    CHEN HONGRUN (author) / ZUO ZHIYUAN (author) / XIONG WU (author) / HAN XU (author)

    Publication date :

    2021-12-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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